Systems, methods and devices for adaptive steering control of automotive vehicles

Abstract

A variety of methods, systems, devices and arrangements are implemented for automated assistance for a driver. One such method relates to a synergistic combination of automation and human control for a motor vehicle traveling on a lane, thereby allowing human-based decisions to be supplement (or be supplemented by) automated decisions. Specific aspects facilitate maintenance of the vehicle on the lane. The vehicle is automatically steered towards a lateral offset within the vehicle lane. Steering input from the driver results in changes to this lateral offset. This modification of the lateral offset can be used to allow the driver to follow any trajectory parallel to the road, including trajectories where the vehicle is not centered within the lane.

Description

FIELD OF THE INVENTION [0001]The present invention relates to hardware designs and software algorithms that facilitate assistive steering for automotive vehicles.BACKGROUND [0002]Interest in assistive and autonomous techniques for passenger vehicles is increasing rapidly; the benefits of partial autonomy are both numerous and profound. In a traditional automotive vehicle, when steering an automobile, a driver has to continuously adjust the steering direction. Some of those adjustments implement discrete choices, such as the choice to change lanes on a highway, or the choice to turn at an intersection. Other adjustments arise from the curvature of the road, or from the vehicle dynamics. For example, on a curved road a driver would drive off the road without adjustment of the steering wheel. Thus, even when staying on the same lane, drivers have to constantly change the angle of the steering wheel to stay in their lane. The constant need to adjust the steering direction causes a burde...

AI Technical Summary

Benefits of technology

[0007]Aspects of the present invention relate to a synergistic combination of automation and human control for a motor vehicle traveling on a lane, thereby allowing human-based decisions to supplement (or be supplemented by) automated decisions. Specific aspects facilitate maintenance of the vehicle on the lane.

[0009]In one embodiment of the present invention, the angle of the steering wheel is interpreted as an intention of the driver to deviate from the current parallel trajectory. A centered steering wheel is interpreted as an indication mat me vehicle should actively drive parallel to the current road and lane. Automatic adjustment of the vehicle wheel direction reduces the need for driver input other than when the driver desires a change in lateral offset.

[0011]In another embodiment of the present invention, the system allows the driver to use the steering wheel to change lateral offsets by occasionally nudging the vehicle back to the desired lateral offset. In this manner, the steering from the driver, even on curvy roads, can be facilitated. For example, the driver maintains control over the vehicle despite needing to perform substantially less steering activity than is required in a normal vehicle. This can be particularly useful where, for example, vehicle localization can be of insufficient quality to precisely pinpoint the vehicle within a lane, while still being sufficient to estimate the curvature of the road at the vehicle's location, such as by inexpensive GPS. The vehicle approximates a trajectory parallel to the road, but slight lateral error may accrue slowly over time due to the insufficient quality in localization.

Problems solved by technology

The constant need to adjust the steering direction causes a burden on drivers often resulting in fatigue.

Failure to provide this constant adjustment results in unintended lane departures, which is one of the primary causes of accidents on highways.

Active steering assistance systems that automatically adjust the steering angle to follow the road can make it difficult for the driver to correct the vehicle's position.

Furthermore, the detection of lane markings, optically or otherwise, is sometimes infeasible.

Lane Departure Systems that merely provide warning signals allow the driver to maintain control; however, such systems require a high level of driver responsibility to steer the vehicle.

That is, simply alerting a driver to the possibility of a lane change does not assist the physical steering.

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